// Copyright (c) 2018, Bosch Software Innovations GmbH.
// Copyright (c) 2019, Martin Idel
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
//    * Redistributions of source code must retain the above copyright
//      notice, this list of conditions and the following disclaimer.
//
//    * Redistributions in binary form must reproduce the above copyright
//      notice, this list of conditions and the following disclaimer in the
//      documentation and/or other materials provided with the distribution.
//
//    * Neither the name of the copyright holder nor the names of its
//      contributors may be used to endorse or promote products derived from
//      this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.


// Adapted from odometry display visual test

#include <memory>
#include <string>

#include "rviz_visual_testing_framework/visual_test_fixture.hpp"
#include "rviz_visual_testing_framework/visual_test_publisher.hpp"

#include "../../page_objects/pose_with_covariance_display_page_object.hpp"
#include "../../publishers/pose_with_covariance_publisher.hpp"

TEST_F(VisualTestFixture, test_pose_with_covariance_display) {
  auto pose_with_covariance_publisher = std::make_unique<VisualTestPublisher>(
    std::make_shared<nodes::PoseWithCovariancePublisher>(),
    "pose_with_covariance_frame");

  setCamPose(Ogre::Vector3(2, 2, 16));
  setCamLookAt(Ogre::Vector3(2, 2, 0));

  auto pose_with_covariance_display = addDisplay<PoseWithCovarianceDisplayPageObject>();
  pose_with_covariance_display->setTopic("/pose_with_covariance");
  pose_with_covariance_display->setCovarianceOrientationColorStyle("RGB");
  pose_with_covariance_display->setCovarianceOrientationAlpha(1);
  pose_with_covariance_display->setCovarianceOrientationScale(5);

  pose_with_covariance_display->setArrowColor(100, 0, 255);
  pose_with_covariance_display->setArrowShaftLength(5);
  pose_with_covariance_display->setArrowShaftRadius(2);
  pose_with_covariance_display->setArrowHeadLength(3);
  pose_with_covariance_display->setArrowHeadRadius(3);
  pose_with_covariance_display->setCovariance(false);

  captureMainWindow("pose_with_covariance_arrow");

  pose_with_covariance_display->setArrowAlpha(0);
  pose_with_covariance_display->setCovariance(true);

  captureMainWindow("pose_with_covariance_orientation");

  pose_with_covariance_display->setCovarianceOrientation(false);
  pose_with_covariance_display->setCovariancePositionScale(5);
  pose_with_covariance_display->setCovariancePositionAlpha(1);

  captureMainWindow("pose_with_covariance_position");

  assertScreenShotsIdentity();
}
